Module: Rclrb

Defined in:
lib/rclrb/qos.rb,
lib/rclrb/capi.rb,
lib/rclrb/init.rb,
lib/rclrb/node.rb,
lib/rclrb/time.rb,
lib/rclrb/clock.rb,
lib/rclrb/timer.rb,
lib/rclrb/client.rb,
lib/rclrb/fields.rb,
lib/rclrb/future.rb,
lib/rclrb/service.rb,
lib/rclrb/version.rb,
lib/rclrb/executor.rb,
lib/rclrb/internal.rb,
lib/rclrb/wait_set.rb,
lib/rclrb/publisher.rb,
lib/rclrb/interfaces.rb,
lib/rclrb/subscription.rb,
lib/rclrb/callback_group.rb,
lib/rclrb/guard_condition.rb,
lib/rclrb/common.rb

Defined Under Namespace

Modules: CApi, Fields, Interfaces, QosDurabilityPolicy, QosHistoryPolicy, QosLivelinessPolicy, QosReliabilityPolicy Classes: CallbackGroupBase, Client, Clock, Error, Executor, Future, GuardCondition, InterruptedClientCall, InvalidMessageTypeError, MutuallyExclusiveCallbackGroup, Node, ParseError, Publisher, QoSProfile, RclError, ReentrantCallbackGroup, Service, ServiceCallFailed, Subscription, Time, Timer, WaitSet

Constant Summary collapse

QoSProfileSensorData =

Qos profile to be used for sensor data,

QoSProfile.new depth: 5, reliability: QosReliabilityPolicy::BestEffort
QoSProfileParameters =

Qos profile to be used for parameters.

QoSProfile.new depth: 1000
QoSProfileDefault =

Default Qos profile for topics.

QoSProfile.new depth: 10
QoSProfileServicesDefault =

Default Qos profile for services.

QoSProfile.new depth: 10
QoSProfileParameterEvents =

Default Qos profile for events.

QoSProfile.new depth: 1000
QoSProfileSystemDefault =

Default Qos profile using system default (RMW implementation specific).

QoSProfile.new depth: 5, history: QosHistoryPolicy::SystemDefault,
reliability: QosReliabilityPolicy::SystemDefault,
durability: QosDurabilityPolicy::SystemDefault,
liveliness: QosLivelinessPolicy::SystemDefault
RosClock =

Represent a clock with Ros time (either system or simulated time)

Clock.new(:RCL_ROS_TIME)
SystemClock =

Represent a clock that is always set to system time

Clock.new(:RCL_SYSTEM_TIME)
VERSION = 
"1.2.0"

Class Method Summary collapse

Class Method Details

.camelize(str) ⇒ Object

Camelize a string, for instance transform “this_is_an_example” to “ThisIsAnExample”



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# File 'lib/rclrb/internal.rb', line 13

def Rclrb.camelize str
  return str.split("_").map(&:capitalize).join
end

.init(arguments: []) ⇒ Object

Initialise Rclrb with the given arguments



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# File 'lib/rclrb/init.rb', line 5

def Rclrb.init(arguments: [])
  @@initOptions = CApi.rcl_get_zero_initialized_init_options()
  @@context = CApi.rcl_get_zero_initialized_context()
  @@allocator = CApi.rcutils_get_default_allocator
  CApi.handle_result(CApi.rcl_init_options_init(@@initOptions, @@allocator))

  # Prepare arguments
  p_values = nil
  if arguments.length > 0
    strings = arguments.map { |k| FFI::MemoryPointer.from_string(k.to_s) }
    p_values = FFI::MemoryPointer.new(:pointer, arguments.size + 1)
    p_values.write_array_of_pointer(strings)
  end

  # Call init
  CApi.handle_result(CApi.rcl_init(arguments.length, p_values, @@initOptions, @@context))

  # Remove from arguments the ros arguments
  idx = 0
  removing = false
  while idx < arguments.length
    if removing
      if arguments[idx] == "--"
        arguments.delete_at idx
        break
      end
      arguments.delete_at idx
    elsif arguments[idx] == "--ros-args"
      removing = true
    else
      idx += 1
    end
  end

  # Guard condition to shutdown execution when shutdown is called
  @@signal_guard_condition = GuardCondition.new
  @@shutdown_requested = false
  
  # Setup signal to catch ctr+c
  Rclrb.setup_signal
end

.rcl_allocate(size) ⇒ Object 



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# File 'lib/rclrb/init.rb', line 70

def Rclrb.rcl_allocate(size)
  return @@allocator[:allocate].call size, @@allocator[:state]
end

.rcl_allocator ⇒ Object 



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# File 'lib/rclrb/init.rb', line 67

def Rclrb.rcl_allocator
  return @@allocator
end

.rcl_context ⇒ Object 



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# File 'lib/rclrb/init.rb', line 58

def Rclrb.rcl_context()
  return @@context
end

.rcl_deallocate(ptr) ⇒ Object 



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# File 'lib/rclrb/init.rb', line 73

def Rclrb.rcl_deallocate(ptr)
  @@allocator[:deallocate].call ptr, @@allocator[:state]
end

.rcl_shutdown_requested? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/rclrb/init.rb', line 64

def Rclrb.rcl_shutdown_requested?
  return @@shutdown_requested
end

.rcl_signal_guard_condition ⇒ Object 



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# File 'lib/rclrb/init.rb', line 61

def Rclrb.rcl_signal_guard_condition
  return @@signal_guard_condition
end

.setup_signal ⇒ Object 



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# File 'lib/rclrb/init.rb', line 46

def Rclrb.setup_signal
  Signal.trap("INT") {
    puts "Interrupts called..."
    Rclrb.shutdown()
  }
end

.shutdown ⇒ Object

Terminate Rclrb



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# File 'lib/rclrb/init.rb', line 54

def Rclrb.shutdown
  @@shutdown_requested = true
  @@signal_guard_condition.trigger
end

.spin(*nodes) ⇒ Object

Spin the given nodes using Executor



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# File 'lib/rclrb/executor.rb', line 38

def Rclrb.spin(*nodes)
  e = Executor.new *nodes
  return e.spin
end

.uncamelize(str) ⇒ Object

Uncamelize a string, for instance transform “ThisIsAnExample” to “this_is_an_example”



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# File 'lib/rclrb/internal.rb', line 4

def Rclrb.uncamelize str
  return str.gsub(/::/, '/')
            .gsub(/([A-Z]+)([A-Z][a-z])/,'\1_\2')
            .gsub(/([a-z\d])([A-Z])/,'\1_\2')
            .tr("-", "_")
            .downcase
end